<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>OrbbecSDK: /root/libobsensor/include/libobsensor/hpp/Utils.hpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="orbbec_icon.png"/></td>
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">OrbbecSDK
   &#160;<span id="projectnumber">1.10.22</span>
   </div>
   <div id="projectbrief">OrbbecSDK: Software-Development-Kit for Orbbec 3D Cameras</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8195f5c0d9a800b311ff87242d342361.html">libobsensor</a></li><li class="navelem"><a class="el" href="dir_551f50d4f6202563ca607f3aa0b67db1.html">hpp</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">Utils.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<a href="Utils_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Types_8hpp.html">Types.hpp</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceob.html">ob</a> {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">class </span>Device;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classob_1_1CoordinateTransformHelper.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1CoordinateTransformHelper.html">CoordinateTransformHelper</a> {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> calibration3dTo3d(<span class="keyword">const</span> <a class="code" href="structOBCalibrationParam.html">OBCalibrationParam</a> calibrationParam, <span class="keyword">const</span> <a class="code" href="structOBPoint.html">OBPoint3f</a> sourcePoint3f, <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sourceSensorType,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> targetSensorType, <a class="code" href="structOBPoint.html">OBPoint3f</a> *targetPoint3f);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> calibration2dTo3d(<span class="keyword">const</span> <a class="code" href="structOBCalibrationParam.html">OBCalibrationParam</a> calibrationParam, <span class="keyword">const</span> <a class="code" href="structOBPoint2f.html">OBPoint2f</a> sourcePoint2f, <span class="keyword">const</span> <span class="keywordtype">float</span> sourceDepthPixelValue,</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sourceSensorType, <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> targetSensorType, <a class="code" href="structOBPoint.html">OBPoint3f</a> *targetPoint3f);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> calibration2dTo3dUndistortion(<span class="keyword">const</span> <a class="code" href="structOBCalibrationParam.html">OBCalibrationParam</a> calibrationParam, <span class="keyword">const</span> <a class="code" href="structOBPoint2f.html">OBPoint2f</a> sourcePoint2f, <span class="keyword">const</span> <span class="keywordtype">float</span> sourceDepthPixelValue,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                                              <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sourceSensorType, <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> targetSensorType, <a class="code" href="structOBPoint.html">OBPoint3f</a> *targetPoint3f);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> calibration3dTo2d(<span class="keyword">const</span> <a class="code" href="structOBCalibrationParam.html">OBCalibrationParam</a> calibrationParam, <span class="keyword">const</span> <a class="code" href="structOBPoint.html">OBPoint3f</a> sourcePoint3f, <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sourceSensorType,</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> targetSensorType, <a class="code" href="structOBPoint2f.html">OBPoint2f</a> *targetPoint2f);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> calibration2dTo2d(<span class="keyword">const</span> <a class="code" href="structOBCalibrationParam.html">OBCalibrationParam</a> calibrationParam, <span class="keyword">const</span> <a class="code" href="structOBPoint2f.html">OBPoint2f</a> sourcePoint2f, <span class="keyword">const</span> <span class="keywordtype">float</span> sourceDepthPixelValue,</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sourceSensorType, <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> targetSensorType, <a class="code" href="structOBPoint2f.html">OBPoint2f</a> *targetPoint2f);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">static</span> std::shared_ptr&lt;ob::Frame&gt; transformationDepthFrameToColorCamera(std::shared_ptr&lt;ob::Device&gt; device, std::shared_ptr&lt;ob::Frame&gt; depthFrame,</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                                                                            uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> transformationInitXYTables(<span class="keyword">const</span> <a class="code" href="structOBCalibrationParam.html">OBCalibrationParam</a> calibrationParam, <span class="keyword">const</span> <a class="code" href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a> sensorType, <span class="keywordtype">float</span> *data, uint32_t *dataSize,</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                                           <a class="code" href="structOBXYTables.html">OBXYTables</a> *xyTables);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> transformationDepthToPointCloud(<a class="code" href="structOBXYTables.html">OBXYTables</a> *xyTables, <span class="keyword">const</span> <span class="keywordtype">void</span> *depthImageData, <span class="keywordtype">void</span> *pointCloudData);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> transformationDepthToRGBDPointCloud(<a class="code" href="structOBXYTables.html">OBXYTables</a> *xyTables, <span class="keyword">const</span> <span class="keywordtype">void</span> *depthImageData, <span class="keyword">const</span> <span class="keywordtype">void</span> *colorImageData, <span class="keywordtype">void</span> *pointCloudData);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;};</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}  <span class="comment">// namespace ob</span></div><div class="ttc" id="classob_1_1CoordinateTransformHelper_html"><div class="ttname"><a href="classob_1_1CoordinateTransformHelper.html">ob::CoordinateTransformHelper</a></div><div class="ttdef"><b>Definition:</b> <a href="Utils_8hpp_source.html#l00013">Utils.hpp:13</a></div></div>
<div class="ttc" id="structOBXYTables_html"><div class="ttname"><a href="structOBXYTables.html">OBXYTables</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00759">ObTypes.h:759</a></div></div>
<div class="ttc" id="structOBPoint_html"><div class="ttname"><a href="structOBPoint.html">OBPoint</a></div><div class="ttdoc">3D point structure in the SDK </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00745">ObTypes.h:745</a></div></div>
<div class="ttc" id="namespaceob_html"><div class="ttname"><a href="namespaceob.html">ob</a></div><div class="ttdef"><b>Definition:</b> <a href="Context_8hpp_source.html#l00016">Context.hpp:16</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a0bf6f74f3eaabbf4a71720b9363b2aa8"><div class="ttname"><a href="ObTypes_8h.html#a0bf6f74f3eaabbf4a71720b9363b2aa8">OBSensorType</a></div><div class="ttdeci">OBSensorType</div><div class="ttdoc">Enumeration value describing the sensor type. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00162">ObTypes.h:162</a></div></div>
<div class="ttc" id="Types_8hpp_html"><div class="ttname"><a href="Types_8hpp.html">Types.hpp</a></div><div class="ttdoc">Provides SDK structure and enumeration constant definitions (depending on libobsensor/h/ObTypes.h). </div></div>
<div class="ttc" id="structOBPoint2f_html"><div class="ttname"><a href="structOBPoint2f.html">OBPoint2f</a></div><div class="ttdoc">2D point structure in the SDK </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00754">ObTypes.h:754</a></div></div>
<div class="ttc" id="structOBCalibrationParam_html"><div class="ttname"><a href="structOBCalibrationParam.html">OBCalibrationParam</a></div><div class="ttdoc">calibration parameters </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00486">ObTypes.h:486</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aa0add2ff45ff52cc75dc92d44f883fbf"><div class="ttname"><a href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a></div><div class="ttdeci">#define OB_EXTENSION_API</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00028">ObTypes.h:28</a></div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Thu Apr 10 2025 12:28:22 for OrbbecSDK by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
</body>
</html>
